Muhammad Nasiruddin Mahyuddin

Bio: Muhammad Nasiruddin Mahyuddin is an academic researcher from Universiti Sains Malaysia. The author has contributed to research in topics: Adaptive control & Control theory. The author has an hindex of 12, co-authored 63 publications receiving 870 citations. Previous affiliations of Muhammad Nasiruddin Mahyuddin include Queen's University & Universiti Sains Malaysia Engineering Campus.

Robust adaptive finite-time parameter estimation and control for robotic systems

Abstract: Summary This paper studies adaptive parameter estimation and control for nonlinear robotic systems based on parameter estimation errors. A framework to obtain an expression of the parameter estimation error is proposed first by introducing a set of auxiliary filtered variables. Then three novel adaptive laws driven by the estimation error are presented, where exponential error convergence is proved under the conventional persistent excitation (PE) condition; the direct measurement of the time derivatives of the system states are avoided. The adaptive laws are modified via a sliding mode technique to achieve finite-time convergence, and an online verification of the alternative PE condition is introduced. Leakage terms, functions of the estimation error, are incorporated into the adaptation laws to avoid windup of the adaptation algorithms. The adaptive algorithm applied to robotic systems permits that tracking control and exact parameter estimation are achieved simultaneously in finite time using a terminal sliding mode (TSM) control law. In this case, the PE condition can be replaced with a sufficient richness requirement of the command signals and thus is verifiable a priori. The potential singularity problem encountered in TSM controls is remedied by introducing a two-phase control procedure. The robustness of the proposed methods against disturbances is investigated. Simulations based on the ‘Bristol-Elumotion-Robotic-Torso II’ (BERT II) are provided to validate the efficacy of the introduced methods. Copyright © 2014 John Wiley & Sons, Ltd.

Salt-and-pepper noise detection and reduction using fuzzy switching median filter

Abstract: This paper presents a new fuzzy switching median (FSM) filter employing fuzzy techniques in image processing. The proposed filter is able to remove salt-and-pepper noise in digital images while preserving image details and textures very well. By incorporating fuzzy reasoning in correcting the detected noisy pixel, the low complexity FSM filter is able to outperform some well known existing salt-and-pepper noise fuzzy and classical filters.

Adaptive Observer-Based Parameter Estimation With Application to Road Gradient and Vehicle Mass Estimation

Abstract: A novel observer-based parameter estimation scheme with sliding mode term has been developed to estimate the road gradient and the vehicle weight using only the vehicle's velocity and the driving torque. The estimation algorithm exploits all known terms in the system dynamics and a low-pass filtered representation of the dynamics to derive an explicit expression of the parameter estimation error without measuring the acceleration. The proposed parameter estimation scheme which features a sliding-mode term to ensure the fast and robust convergence of the estimation in the presence of persistent excitation is augmented to an adaptive observer and analyzed using Lyapunov Theory. The analytical results show that the algorithm is stable and ensures finite-time error convergence to a bounded error even in the presence of disturbances. In the absence of disturbances, convergence to the true values in finite time is guaranteed. A simple practical method for validating persistent excitation is provided using the new theoretical approach to estimation. This is validated by the practical implementation of the algorithm on a small-scaled vehicle, emulating a car system. The slope gradient as well as the vehicle's mass/weight are estimated online. The algorithm shows a significant improvement over previous results.

Robust adaptive finite-time parameter estimation and control of nonlinear systems

Abstract: This paper exploits an alternative adaptive parameter estimation and control approach for nonlinear systems. An auxiliary filter is developed to derive a representation of the parameter estimation error, which is combined with an adaptive law to guarantee the exponential convergence of the control error as well as the estimation error. The proposed method is further improved via a sliding mode technique to achieve the finite-time (FT) error convergence. The traditional persistent excitation (PE) is simplified as an a priori verifiable sufficiently rich (SR) requirements on the demand signal. The robustness of the control schemes with bounded disturbances is also investigated. The developed methods are finally tested via simulations.

Solar Photovoltaic Architecture and Agronomic Management in Agrivoltaic System: A Review

Abstract: Agrivoltaic systems (AVS) offer a symbiotic strategy for co-location sustainable renewable energy and agricultural production. This is particularly important in densely populated developing and developed countries, where renewable energy development is becoming more important; however, profitable farmland must be preserved. As emphasized in the Food-Energy-Water (FEW) nexus, AVS advancements should not only focus on energy management, but also agronomic management (crop and water management). Thus, we critically review the important factors that influence the decision of energy management (solar PV architecture) and agronomic management in AV systems. The outcomes show that solar PV architecture and agronomic management advancements are reliant on (1) solar radiation qualities in term of light intensity and photosynthetically activate radiation (PAR), (2) AVS categories such as energy-centric, agricultural-centric, and agricultural-energy-centric, and (3) shareholder perspective (especially farmers). Next, several adjustments for crop selection and management are needed due to light limitation, microclimate condition beneath the solar structure, and solar structure constraints. More importantly, a systematic irrigation system is required to prevent damage to the solar panel structure. To summarize, AVS advancements should be carefully planned to ensure the goals of reducing reliance on non-renewable sources, mitigating global warming effects, and meeting the FEW initiatives.

Noise Adaptive Fuzzy Switching Median Filter for Salt-and-Pepper Noise Reduction

Abstract: This letter presents a novel two-stage noise adaptive fuzzy switching median (NAFSM) filter for salt-and-pepper noise detection and removal. Initially, the detection stage will utilize the histogram of the corrupted image to identify noise pixels. These detected ?noise pixels? will then be subjected to the second stage of the filtering action, while ?noise-free pixels? are retained and left unprocessed. Then, the NAFSM filtering mechanism employs fuzzy reasoning to handle uncertainty present in the extracted local information as introduced by noise. Simulation results indicate that the NAFSM is able to outperform some of the salt-and-pepper noise filters existing in literature.

Adaptive Parameter Estimation and Control Design for Robot Manipulators With Finite-Time Convergence

Abstract: For parameter identifications of robot systems, most existing works have focused on the estimation veracity, but few works of literature are concerned with the convergence speed. In this paper, we developed a robot control/identification scheme to identify the unknown robot kinematic and dynamic parameters with enhanced convergence rate. Superior to the traditional methods, the information of parameter estimation error was properly integrated into the proposed identification algorithm, such that enhanced estimation performance was achieved. Besides, the Newton–Euler (NE) method was used to build the robot dynamic model, where a singular value decomposition-based model reduction method was designed to remedy the potential singularity problems of the NE regressor. Moreover, an interval excitation condition was employed to relax the requirement of persistent excitation condition for the kinematic estimation. By using the Lyapunov synthesis, explicit analysis of the convergence rate of the tracking errors and the estimated parameters were performed. Simulation studies were conducted to show the accurate and fast convergence of the proposed finite-time (FT) identification algorithm based on a 7-DOF arm of Baxter robot.

Robust adaptive finite-time parameter estimation and control for robotic systems

Abstract: Summary This paper studies adaptive parameter estimation and control for nonlinear robotic systems based on parameter estimation errors. A framework to obtain an expression of the parameter estimation error is proposed first by introducing a set of auxiliary filtered variables. Then three novel adaptive laws driven by the estimation error are presented, where exponential error convergence is proved under the conventional persistent excitation (PE) condition; the direct measurement of the time derivatives of the system states are avoided. The adaptive laws are modified via a sliding mode technique to achieve finite-time convergence, and an online verification of the alternative PE condition is introduced. Leakage terms, functions of the estimation error, are incorporated into the adaptation laws to avoid windup of the adaptation algorithms. The adaptive algorithm applied to robotic systems permits that tracking control and exact parameter estimation are achieved simultaneously in finite time using a terminal sliding mode (TSM) control law. In this case, the PE condition can be replaced with a sufficient richness requirement of the command signals and thus is verifiable a priori. The potential singularity problem encountered in TSM controls is remedied by introducing a two-phase control procedure. The robustness of the proposed methods against disturbances is investigated. Simulations based on the ‘Bristol-Elumotion-Robotic-Torso II’ (BERT II) are provided to validate the efficacy of the introduced methods. Copyright © 2014 John Wiley & Sons, Ltd.

Reinforcement Learning and Adaptive Dynamic Programming for Feedback Control

Abstract: This paper first offers a transversal view through microfluidics theory and applications, starting from a brief overview on microfluidic systems and related theoretical issues, covering different kinds of phenomena, from continuous to multiphase flow. Multidimensional models, from lumped parameters to numerical models and computational solutions, are then considered as preliminary tools for the characterization of spatio-temporal dynamics in microfluidic flows. Following these, experimental approaches through original monitoring opto-electronic interfaces and systems are discussed. Finally, a vision of two phase microfluidic phenomena is given through nonlinear analyses applied to experimental time series.

Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics

Abstract: Due to strongly coupled nonlinearities of the grasped dual-arm robot and the internal forces generated by grasped objects, the dual-arm robot control with uncertain kinematics and dynamics raises a challenging problem. In this paper, an adaptive fuzzy control scheme is developed for a dual-arm robot, where an approximate Jacobian matrix is applied to address the uncertain kinematic control, while a decentralized fuzzy logic controller is constructed to compensate for uncertain dynamics of the robotic arms and the manipulated object. Also, a novel finite-time convergence parameter adaptation technique is developed for the estimation of kinematic parameters and fuzzy logic weights, such that the estimation can be guaranteed to converge to small neighborhoods around their ideal values in a finite time. Moreover, a partial persistent excitation property of the Gaussian-membership-based fuzzy basis function was established to relax the conventional persistent excitation condition. This enables a designer to reuse these learned weight values in the future without relearning. Extensive simulation studies have been carried out using a dual-arm robot to illustrate the effectiveness of the proposed approach.